Design of Joint Module Equipped with Manually Configurable Reducer for Gearing

Abstract

Many users demand modular manipulator that are able to deal with variable tasks in low-cost condition. This paper details the design of a joint module for a manually reconfigurable manipulator, which has manually configurable gearing. This design method can provide multiple peak values of velocity and torque by user. This module can be changed its placement as vertical and horizontal by electro-mechanical connectors on it. This joint module includes an EtherCAT communication system, non hack-drivable planetary gearing. A low-level controller is also implemented inside of joint module.